WO2010053245A1

WO2010053245A1 - Robot hand with connection part that undergoes stretching deformation according to object shape and method for controlling robot hand

Info

Publication number: WO2010053245A1
Application number: PCT/KR2009/003951
Authority: WO
Inventors: 도낙주; 김경복; 남창주; 이영훈
Original assignee: 고려대학교 산학협력단
Priority date: 2008-11-06
Filing date: 2009-07-17
Publication date: 2010-05-14
Also published as: KR20100050753A; US20110254303A1; KR101008405B1; EP2366505A4; US8523254B2; EP2366505A1

Abstract

The present invention relates to a robot hand with a connection part that undergoes stretching deformation according to object shape and a method for controlling a robot hand; the key technical point pertains to a robot hand with a connection part that undergoes stretching deformation according to object shape, comprising: a variable connection device (100) that provides a contact face that enables pressing and contacting a moving target (10) and has a structure wherein a connection part (100a) in contact with said moving target (10) enables stretching deformation; a connection length controller (200) that interfaces with a drive part such as a motor (201) or pump to stretch and deform the connection part (100a) of said variable connection device so that the connection part (100a) of said variable connection device undergoes conversion between a closed-loop state wherein it is continuous with the surface of said moving target (10) or divided into a plurality of sections to be pressed and contacted, and an open-loop state wherein it detaches from said moving target (10); and a shape retention device that retains the shape of said variable connection device (100)consistently in a closed-loop state wherein said variable connection device (100) is pressed and contacted with said moving target (10) at a set pressure, and specifically to a robot hand with a connection part that undergoes stretching deformation according to object shape and a method for controlling the robot hand, having a structure that enables the reliable and stable performance of pick and move operations including enveloping, hooking, and sweeping, among the various operations performed by a human hand.

Description

Robot hand and robot hand control method having a connection part that is elastically deformed according to the object shape

The present invention relates to a robot hand and a robot hand control method having a connection part that is elastically deformed according to an object shape, and more particularly, can be pressurized and connected at a set pressure suitable for transporting a moving object while elastically deforming the connection part according to an object shape. The present invention relates to a robot hand and a robot hand control method having a connection part that is elastically deformed according to an object shape.

Tasks performed by human hands can be largely classified based on control and implementation perspectives. On the basis of control perspectives, an object can be grasped using a fingertip, such as writing with a pen. The task is classified into a task of maintaining contact without holding an object, such as tip grasping, whole grasping or power grasping, or pushing an object.

Based on the point of view, the hand becomes a force medium that transfers force, such as grasping and turning a door, grabbing a steel rod, or pushing a heavy object, or grasping a cup or beaker To pick up or move objects, to hold letters, to write or draw, or to manipulate complex cubes As such, it is classified as a precise task.

The human hand has a very complex structure composed of a number of joints and bones and muscles to move them, and is surrounded by sensitive nerve tissue that can feel tactile, temperature, and pressure. Both hands are composed of a total of 54 bones, which is 25% of the total 206 bones. In addition, 30% of the brain's motor nerves have very complex tissues that cover the hands.

In addition, when a human performs a task by hand, information obtained from an internal sensor such as a sensor inside the hand and an external sensor such as the human eye is immediately fed back to the brain, and the brain interprets the sensor information to present In determining the situation, in the determination, the current working situation is accurately interpreted using not only the sensor information currently input but also the knowledge accumulated through the past growth process.

Based on the interpreted sensor information, the human brain performs a multipath plan in real time on how 54 bones should move and calculates multiple control inputs for muscle strength and muscle movement required to perform the multipath plan. Humans can excel in various ways of manual work in conjunction with the brain's judgment, storage, and computational functions.

Conventional robot hands have been developed and manufactured as human-type robot hands that are intended to mimic human hands. However, as described above, the installation of drivers such as motors and pumps and sensors is as efficient and balanced as human hands. It is difficult to achieve it, and the performance of the driver or the sensor itself is also lower than that of humans, and it is also practically impossible to simultaneously control 20 joints with the appropriate force and path by interpreting and processing the information acquired through the sensor. There is a problem.

Despite the above problems, the humanoid robot hand is intended to replace all the tasks performed by humans, so that the apparatus itself has a complicated shape but does not perform the basic operation of manipulating a specific shape object in advance. In addition, even in some of the tasks that can be performed, the success rate of the repetition is low and the holding power, the stability of the transfer, the formation is low, the situation is not commercialized.

Developing a robot hand structure that mimics a human hand requires a long-term approach, so that to promote the commercialization of robots, it is possible to implement a more reliable and stable implementation of a robot, even if only a limited number of tasks are performed. Development of a robot hand dedicated to the task is required.

The present invention has been made to solve the problems described above, among the various tasks performed by the human hand, to grab and move things (enveloping, hooking, sweeping) An object of the present invention is to provide a robot hand and a robot hand control method having a connection part that is elastically deformed according to an object shape having a structure capable of reliably and stably moving.

The present invention for achieving the object as described above, provides a contact surface capable of pressing contact to the moving object 10, the variable connection device having a structure in which the connecting portion (100a) in contact with the moving object 10 is elastically deformable ( 100); The connecting portion 100a of the variable connecting device is continuously closed on the surface of the moving object 10 or divided into a plurality of locations in a closed loop state in which the pressure contact is made, or in an open loop state deviating from the moving object 10. A connection length adjusting device (200) which expands and deforms the shape of the connecting portion (100a) of the variable connecting device so as to be switched so as to interlock with a driving unit such as a motor (201) and a pump; And a shape maintaining device for maintaining the shape of the variable connection device 100 in a closed loop state in which the variable connection device 100 is pressurized and connected to the moving object 10 at a set pressure. The robot hand which has a connection part which expands and contracts according to a shape is made into a technical summary.

Here, the variable connection device 100 is preferably configured to include a bending deformation portion 110 made of a linear member such as a chain, a belt, a wire that can flexibly deform the length and the shape of the bend.

In addition, the variable connection device 100 is made of a tube member that can be adjusted in volume by the injection and discharge of air, extending along the longitudinal direction of the bending deformation portion 110 and the bending deformation portion 110 It is preferably configured to further include; airbag 130 is connected to the installation.

The variable connection device 100 maintains a constant shape and the length of the connection part 100a is variable by moving the position in a direction adjacent or spaced from the moving object 10. It is preferable that it is comprised, including.

In addition, the variable connection device 100 is made of a linear member such as a chain, a belt, a wire that can flexibly deform the length and the bent shape, according to the protruding length or position of the hand portion 120, the moving object ( It is preferable to further comprise a; bending deformation portion 110 is coupled to one end to the front end of the hand portion 120 so that the connection state with the 10).

In addition, the variable connection device 100 is preferably configured to include an airbag portion 130 made of a tube member that can be adjusted in volume by the injection and discharge of air.

In addition, the connection length adjusting device 200 is rotated in a state of being connected to one side of the bent deformation portion 110, the first gear to deform the length or shape while moving one side of the bent deformation portion 110. 211; Rotation in the opposite direction to the first gear 211 in a state connected to the other side of the curved deformation portion 110 and the length while moving the curved deformation portion 110 with the first gear 211 or A second gear 212 deforming the shape; And a power transmission assembly 213 for simultaneously driving the first gear 211 and the second gear 212 in the opposite direction by the rotation of the motor 201 in one direction.

The power transmission assembly 213 is installed coaxially with the first gear 211 and is connected to the motor 201 by a belt member so as to be rotatable in the same direction as the rotation direction of the motor 201. A first main pulley 213a connected; A second main pulley 213b installed coaxially with the second gear 212; A first auxiliary pulley 213c connected to the second main pulley 213b by a belt member rotatably in the same direction as the second main pulley 213b; A second auxiliary pulley (213d) connected to the motor (201) by a belt member so as to be rotatable in the same direction as the rotation direction of the motor (201); And the first auxiliary pulley 213c and the second auxiliary pulley at positions opposite to the second auxiliary pulley 213d to transfer the rotation of the second auxiliary pulley 213d in the reverse direction to the first auxiliary pulley 213c. It is preferred that the pulley (213d) is a pair of direction switching pulley (213e) that is installed by a belt member.

In addition, the connection length adjusting device 200, in conjunction with the motor 201, the linear motion transfer unit 220 for linearly moving the hand portion 120 in the direction adjacent or spaced apart from the moving object (10). It is preferable that it is comprised, including.

And, the linear motion transfer unit 220, the cam member 223 is rotated in conjunction with the motor 201; A linear movement bar 226 linked to the cam member 223 so that the position of the front end portion is moved forward and backward by the rotation of the cam member 223; And a rear end portion is connected to the front end portion of the linear movement bar 226, and intermediate portions intersecting with each other are rotatably coupled on one axis, so that the position and angle of the front end portion are moved by the movement of the linear movement bar 226. It is preferably configured to include; and variable together, a pair of left and right hand connection bar 227, the hand portion 120 is respectively coupled to the front end.

In addition, the linear motion transfer unit 220, the first power transmission gear 221 is installed coaxially with the motor 201; The cam member 223 is connected to the first power transmission gear 221 and coaxially with the cam member 223, and is connected to the first power transmission gear 221 at a speed corresponding to the number of teeth with the first power transmission gear 221. A second power transmission gear 222 which rotates by decelerating or accelerating; A support 224 extending in a vertical direction at a point where a rear end of the linear moving bar 226 having an intermediate portion linked to the cam member 223 is located; And a rear end portion of the linear movement bar 226 is hinged rotatably so that the rear end portion of the linear movement bar 226 is movable along the support 224, and is perpendicular to the guide portion of the support 224. It is preferably configured to further include; a vertical guide 225 that is installed to be movable in the direction.

In addition, the shape maintaining device is a shape for controlling the operation of the connection length adjusting device 200 to maintain the state in which the variable connection device 100 is finally deformed when the variable connection device 100 is loaded with a threshold value or more. It is preferably configured to include a holding control unit.

In addition, in the open loop state in which the connecting portion 100a of the variable connection device is separated from the moving object 10, the moving object 10 can be hooked by using a ring portion or a recess provided in the moving object 10. It is preferably configured to further include; hook device 400 for providing a hook.

In addition, the hook device 400, the driving force transmission unit 411 is rotated by receiving the pressing force from the variable connection device 100 by the shape deformation or movement of the variable connection device 100; And a hook portion 413 which is moved and adjusted in a direction spaced apart from the rotation shaft 411a by the rotation of the driving force transmission unit 411, and the protrusion length toward the moving object 10 is extended and adjusted. It is preferable to comprise.

In addition, the hook device 400, provides a hook coupling portion 412a that can be installed to connect the hook portion 413 at a point having a constant relative angle with the driving force transmission portion 411 and the driving force transmission portion 411 Hook connection portion 412 is installed on the rotating shaft (411a) of the; And a hook upper end connected to the hook coupling part 412a of the hook connecting part, and having a hooking support part for supporting the hook part 413 at the lower end or pressurizing the upper end of the hook connecting part 412a. It is preferably configured to further include; stretchable support 414 for maintaining the shape of the hook portion 413 without sagging.

And, the hooking device 400, the linear displacement transfer unit 421 which is moved and adjusted in a direction opposite to the moving direction of the variable connection device (100); And a linear moving hook part 422 coupled to the front end of the linear displacement transmitting part 421 and adjusting the protrusion length toward the moving object 10 by the movement of the linear displacement transmitting part 421. It is preferable to comprise.

In addition, the present invention, whether it is suitable to apply a method of holding and moving the moving object 10 is determined according to the shape information of the moving object 10 obtained through the sensor or received through an external input terminal. Moving method selection step; If it is determined that the moving object 10 is gripped and moved in the moving method selection step, the moving part connecting part 100a of the variable connection device providing a contact surface that can be pressed into the moving object 10 is moved. A closed loop switching step of switching to a closed loop mode for pressure contacting the surface of the object 10; And a setting pressure gripping step of maintaining a constant shape of the variable connecting device 100 when the variable connecting device 100 is pressurized to the moving object 10 at a set pressure in the closed loop mode. Robot hand control method comprising a to another technical gist.

Here, the open loop returning step of holding the moving object 10 to move to the target position and then switching to the open loop mode for adjusting the disconnection portion 100a of the variable connection device from the moving object 10; It is preferable to comprise.

In addition, the present invention, in the movement of the moving object 10, whether it is suitable to move by holding the moving object 10, or whether it is suitable to move by using a hook is obtained by the sensor A moving method selection step of determining according to the shape information of the moving object 10 or receiving it through an external input terminal; If it is determined that the moving object 10 is gripped and moved in the moving method selection step, the moving part connecting part 100a of the variable connection device providing a contact surface that can be pressed into the moving object 10 is moved. A closed loop switching step of switching to a closed loop mode for pressure contacting the surface of the object 10; A setting pressure gripping step of maintaining a constant shape of the variable connecting device 100 when the variable connecting device 100 is pressed and connected to the moving object 10 at a set pressure in the closed loop mode; In the moving method selection step, if it is determined that it is suitable to move by using a hook, the connection part 100a of the variable connection device which provides a contact surface which is pressurized to the moving object 10 is moved from the moving object 10. An open loop switching step of switching to an open loop mode for adjusting the departure; And a hook providing step of providing the hook in the changed state of the open loop mode to hook and restrain the movable object 10 by using the hook portion or the recess provided in the movable object 10. The method is another technical point.

Here, the hook providing step is preferably performed simultaneously with the adjustment to detach the connecting portion (100a) of the variable connection device from the moving object (10).

In addition, the mode return step of reversing the mode so that the moving object (10) by holding or walking to the target position, the connection portion (100a) or the hook of the variable connection device is separated from the moving object (10); It is preferably configured to further include.

According to the present invention by the above configuration, the variable connection device for providing a contact surface capable of pressurized contact to the moving object, the connection length adjusting device for stretching and deforming the shape of the variable connection device, the variable connection device is pressure-connected to the moving object at the set pressure With a simple structure consisting of a shape holding device that maintains a constant state, it is possible to reliably and stably implement an operation of holding and moving a moving object having an arbitrary shape among various operations that the existing robot hand cannot perform. It works.

In addition, since the variable connecting device has a structure that can be elastically deformed to the contact portion that is in contact with the moving object, it is possible to operate to hold and move the object with minimal control of changing the length or shape of the variable connecting device. According to the present invention, there is another effect that it is possible to secure operational reliability and robustness to stably transmit and maintain driving force.

In addition, it is possible to implement with only the minimum driver and sensor necessary for the task of holding and moving the moving object, and the flexible connection of the concise structure of the concise structure by analyzing only the minimum information input from a few sensors, so that the sensor The control system for interworking with the motor can also be simplified, which has another effect of enabling a more stable control system.

1-a perspective view showing a first embodiment of a robot hand having a connecting portion that is elastically deformed according to an object shape according to the present invention;

2 to 1 state of use showing a state of holding a moving object having an arbitrary shape using the embodiment shown in FIG.

3-2 is a perspective view illustrating a state in which a moving object is omitted in FIG. 2.

4 is a perspective view showing a second embodiment of a robot hand having a connecting part that is elastically deformed according to the object shape according to the present invention;

5-Yabu perspective view of the power transmission assembly

Fig. 6-A perspective view showing the third embodiment of the robot hand having a connecting part that is elastically deformed according to the object shape according to the present invention.

7 to 6 are perspective views showing different operating states of FIG.

Fig. 8-Yobusashi drawing showing the hook device

9 to 8 are perspective views showing different operating states of FIG.

10-main part perspective view showing a fourth embodiment of a robot hand having a connecting part that is elastically deformed according to the object shape according to the present invention;

11-10 a top view

12-main part perspective view showing a fifth embodiment of a robot hand having a connecting part that is elastically deformed according to the object shape according to the present invention;

13 to 12 are perspective views showing different operating states of FIG.

14 is a perspective view illustrating a sixth embodiment of a robot hand having a connecting part that is elastically deformed according to an object shape according to the present invention;

15 to 14 are diagrams illustrating a state in which a moving object having an arbitrary shape is gripped using the embodiment shown in FIGS.

16-14, top view

Figures 17-14 back view

18 to 14 is a perspective view showing another operating state of FIG.

19-18 top view

20-Back view of FIG. 18

21 is a flowchart illustrating a first embodiment of a robot hand control method according to the present invention.

10: moving object 20: housing

100: variable connection device 100a: connection part

110: bending deformation portion 120: hand portion

130: air bag 200: connection length adjusting device

201: Motor 211: First Gear

212: second gear 213: power transmission assembly

213a: first main pulley 213b: second main pulley

213c: First secondary pulley 213d: Second secondary pulley

213e: direction change pulley 220: linear motion transfer unit

221: first power transmission gear 222: second power transmission gear

223: cam member 224: support

225: vertical guide 226: linear bar

227: hand connection bar 400: hook device

411: driving force transmission unit 411a: rotating shaft

412: hook hook 412a: hook hook

413: hook portion 414: elastic support

421: linear displacement transfer unit 422: linear movement hook

First, a robot hand having a connection part that is elastically deformed according to the object shape according to the present invention according to the present invention will be described.

The robot hand having a connection part that is elastically deformed according to the shape of an object according to the present invention according to the present invention has a setting suitable for moving the moving object 10 while elastically deforming the connection part 100a in accordance with the shape of the moving object 10. The present invention relates to a robot hand that implements an operation structure in which pressure is connected to and maintained on the moving object 10 by pressure, and includes a variable connection device 100, a connection length adjusting device 200, and a shape maintaining device (not shown). .

The variable connection device 100 provides a contact surface that is capable of pressure contact with the moving object 10, and connects the driving force transmitted from a driving unit such as a motor 201 and a pump (not shown) with the moving object 10. It is a component that is transmitted and pressed to the moving object 10 side in the state, it has a structure capable of stretching and deforming the connection portion (100a) in contact with the moving object (10).

The connection length adjusting device 200 is a closed loop state in which the connecting portion 100a of the variable connecting device is continuously pressed or divided into a plurality of places on the surface of the moving object 10 or the moving object ( The shape of the connecting portion 100a of the variable connecting device is elastically deformed in conjunction with a driving unit such as a motor 201 and a pump (not shown) so as to be switched to the open loop state deviating from 10).

The shape maintaining device (not shown) controls the operation of the connection length adjusting device 200 to maintain the final deformation state of the variable connection device 100 when the variable connection device 100 is loaded with a threshold value or more. And a shape maintaining control unit (not shown) to maintain a constant shape of the variable connection device 100 in a closed loop in which the variable connection device 100 is pressurized and connected to the moving object 10 at a set pressure. Let's go.

1 to 3 illustrate a first embodiment of a robot hand according to the present invention, and FIG. 1 illustrates a first embodiment of a robot hand having a connection part that is elastically deformed according to an object shape according to the present invention. 2 is a diagram illustrating a state in which a moving object having a certain shape is gripped using the embodiment shown in FIG. 1, and FIG. 3 is a state in which the moving object is omitted in FIG. 2. It is a Yobu Sashi drawing shown.

In the first embodiment of the robot hand according to the present invention, the variable connection device 100, as shown in Figs. 1 to 3, such as a chain, belt, wire, such as a flexible deformation of the length and bending shape It has a structure consisting of a bending deformation portion 110 composed of a member.

The connection length adjusting device 200 is connected to the first gear 211 rotatably installed in a state of being connected to one side of the bent deformation unit 110 and the other side of the bent deformation unit 110. The power transmission assembly 213 for simultaneously driving the first gear 211 and the second gear 212 in the opposite direction by one-way rotation of the motor 201 and the second gear 212 rotatably installed in a state. Has a structure with

The first gear 211 is deformed length or shape while moving one side of the bent deformation portion 110 by the rotation, the second gear 212 is the second by the power transmission assembly 213 The first gear 211 is rotated in a direction opposite to that of the first gear 211, and the length or shape thereof is changed together with the first gear 211 while moving the other side of the curved deformation part 110.

According to the first embodiment of the robot hand according to the present invention, the first gear 211 and the second gear 212 are simultaneously opposite to each other by one motor 201 using the power transmission assembly 213. While rotating the curved deformation part 110 to the inside of the housing 20 as shown in FIG. 1 and shortening the length of the connection part 100a, or the first gear 211 and the second gear. By rotating the 212 in the opposite direction, the curved deformation portion 110 is moved to the outside of the housing 20 to extend the length of the connection portion 100a.

Accordingly, the power transmission assembly 201 in the closed loop direction in the open loop state in which the curved deformation portion 110 is extended to the outside of the housing 20 so as to cover the entire circumference of the moving object 10. When driven, the curved state is naturally flexibly deformed as shown in FIG. 3 to an arbitrary shape clearly connectable to the circumference of the moving object 10 having an arbitrary shape, and the movement as shown in FIG. The state in which the object 10 is firmly gripped at the set pressure can be maintained.

4 and 5 are views for explaining the second embodiment of the robot hand according to the present invention, Figure 4 is a second embodiment of the robot hand having a connecting portion that is stretched and deformed according to the object shape according to the present invention. 1 is a perspective view, and FIG. 5 is a perspective view of a power transmission assembly.

In the second embodiment of the robot hand according to the present invention, as compared with the first embodiment of the robot hand according to the present invention, the variable connection device 100, as shown in Figure 4, the injection of air, It further comprises an airbag portion 130 made of a tubular member that can adjust the volume by discharging, the air deflection portion 110 so that the airbag portion 130 extends along the longitudinal direction of the bend deformation portion 110 It has a structure connected to).

When the surface of the moving object 10 is bent, the curved deformation portion 110 is connected only to the protruding surface portion of the moving object 10, the concave portion of the moving object 10 It is difficult to pressurize firmly to the corresponding surface, and by driving a drive such as a pneumatic pump to expand the volume of the airbag 130, the airbag 130 of the soft material to the concave portion of the moving object 10 The moving object 10 can be gripped more stably and firmly by entering and pressurizing.

Figure 5 shows the main part of an example of the power transmission assembly 213 suitable for applying to the first and second embodiments of the robot hand according to the present invention, the power transmission assembly 213 is largely the first main It consists of a pulley 213a (see Fig. 4), a second main pulley (213b (see Fig. 4)), a first auxiliary pulley 213c, a second auxiliary pulley 213d, and a pair of direction switching pulleys 213e.

The first main pulley 213a is installed coaxially with the first gear 211 and is connected to the motor 201 by a belt member so as to be rotatable in the same direction as the rotation direction of the motor 201. The first gear 211 is rotated in the same direction as the motor 201.

The second main pulley 213b is installed coaxially with the second gear 212, and the first auxiliary pulley 213c is rotatably attached to the belt member in the same direction as the second main pulley 213b. It is connected to the second main pulley (213b), the second auxiliary pulley (213d) is connected to the motor 201 by a belt member to be rotatable in the same direction as the rotation direction of the motor 201.

The pair of redirection pulleys 213e may be configured such that the rotation of the second auxiliary pulley 213d is transmitted in the opposite direction to the first auxiliary pulley 213c at the position opposite to the second auxiliary pulley 213d. The first auxiliary pulley 213c and the second auxiliary pulley 213d are connected to each other by a belt member, and the first auxiliary pulley 213c, the second auxiliary pulley 213d, and the pair of redirection pulleys 213e are interlocked. Rotation causes the second gear 212 to rotate in the opposite direction to the motor 201.

6 to 9 illustrate a third embodiment of the robot hand according to the present invention, and FIG. 6 illustrates a third embodiment of the robot hand having a connection part that is elastically deformed according to the object shape according to the present invention. FIG. 7 is a main part perspective view showing another operating state of FIG. 6, FIG. 8 is a main part perspective view showing a hook device, and FIG. 9 is a main part perspective view showing another operating state of FIG. 8.

In the third embodiment of the robot hand according to the present invention, compared with the first embodiment of the robot hand according to the present invention, an open loop in which the connecting portion 100a of the variable connection device is separated from the moving object 10 is provided. In the state, it has a structure further provided with a hook device 400 for providing a hook for hanging the moving object 10 by using a ring portion or a recess provided in the moving object (10).

The hook device 400, as shown in Figure 8, 9, consists of a driving force transmission unit 411, hook hook portion 412, hook hook 413, elastic support 414, shown in Figure 6 As shown in FIG. 7, when the shape deformation or movement of the variable connection device 100 is performed, the driving force transmission unit 411 is rotated by receiving a pressing force from the variable connection device 100. The hook portion 413 is moved and adjusted in a direction spaced apart from the rotation shaft 411a of the driving force transmission portion by the rotation of the driving force transmission portion 411, and the protrusion length toward the moving object 10 is adjusted to be extended.

The hook connection portion 412 provides a hook coupling portion 412a capable of connecting and installing the hook portion 413 at a point having a constant relative angle with the driving force transmission portion 411, and the rotation of the driving force transmission portion 411. It is installed on the coaxial 411a, the hook portion 413 to maintain a constant relative angle with the drive force transmitting portion 411 by adjusting the variable connection device 100 by adjusting the linking portion 413 This can be done reliably.

The stretchable support part 414 has an upper end connected to the hook connection part 412a of the hook connection part, and includes a hook support part for supporting the hook part 413 at the lower end or pressing the upper end of the hook connection part 412a. As shown in FIGS. 8 and 9, the shape of the hook part 413 is maintained without sagging.

10 and 11 illustrate a fourth embodiment of the robot hand according to the present invention, and FIG. 10 illustrates a fourth embodiment of the robot hand having a connection part that is elastically deformed according to the object shape according to the present invention. 1 is a perspective view, and FIG. 11 is a plan view of FIG.

A fourth embodiment of the robot hand according to the present invention is compared with the first embodiment of the robot hand according to the present invention, wherein the variable connection device 100 maintains a constant shape of the moving object 10. ) Has a structure consisting of a hand part 120 whose length of the connection part 100a is varied by a position movement in a direction adjacent or spaced apart.

The connection length adjusting device 200 includes a linear motion transfer unit 220 for linearly moving the hand part 120 in a direction adjacent or spaced from the moving object 10 in association with the motor 201. It has a structure, the linear motion transmission unit 220 is the first power transmission gear 221, the second power transmission gear 222, the cam member 223, the support 224, the vertical guide 225, linear movement The bar 226 has a structure consisting of a hand connecting bar 227.

The first power transmission gear 221 is installed coaxially with the motor 201, and the second power transmission gear 222 is connected to the first power transmission gear 221 while being connected to the cam member 223. It is installed to be coaxially with, and the cam member 223 is rotated by decelerating or accelerating at a speed corresponding to the tooth ratio with the first power transmission gear (221).

The cam member 223 is interlocked with the motor 201 at a predetermined reduction ratio by the first power transmission gear 221 and the second power transmission gear 222, and the support 224 is the cam member. An extension portion is installed in the vertical direction at a point where the rear end portion of the linear moving bar 226 having an intermediate portion linked thereto is positioned at 223.

The vertical guide 225 is hinged to the rear end of the linear movement bar 226 to be rotatable so that the rear end of the linear movement bar 226 is movable along the support 224, the support 224 The linear movement bar 226 has the front end of the linear movement bar 226 by the rotation of the cam member 223 in a state in which an intermediate portion is connected to the cam member 223. It is moved forward and backward.

The hand connecting bar 227 is connected to the front end of the linear movement bar 226, the rear end is connected, and the mutually intersecting intermediate portions are rotatably coupled on one axis, by the movement of the linear movement bar 226 A pair of left and right sides having variable front positions and angles is provided, and the right and left hand portions 120 are coupled to the front ends of the left and right pairs of hand connection bars 227, respectively.

Accordingly, when the linear movement bar 226 moves forward in association with the cam member 223 by driving the motor 201 in one direction, the linear movement bar (as shown in FIGS. 10 and 11). 226) The pair of hand connecting bar 227 coupled to the front is folded so as to reduce the length of extension to the front, rear, while reducing the protruding length of the hand portion 120 to the outside of the housing 20 The separation interval between the portions corresponding to the connection portion 100a of the left and right hand portions 120 is extended to be in an operating state directed in the open loop mode.

The linear movement bar 226 is moved backward by driving the motor 201 in reverse or continuing the one-way driving state of the motor 201, and the pair of the linear movement bars 226 coupled to the front of the linear movement bar 226. As the hand connecting bar 227 is folded so that the extension lengths of the front and rear portions are extended, the protruding length of the hand portion 120 to the outside of the housing 20 extends and the left and right hand portions 120 are extended. The spacing between the portions corresponding to the connection portion 100a of the N) is reduced, and the operating state is directed in the closed loop mode.

The hook device 400 is composed of a linear displacement transfer unit 421 and a linear moving hook unit 422, the linear displacement transfer unit 421 is the direction opposite to the moving direction of the variable connection device 100 The rear end is connected to the linear movement bar 226 so that the linear movement bar 226 is protruded toward the moving object 10 by the movement of the linear displacement transfer part 421. It is coupled to the front end of the linear displacement transfer unit 421 to be adjusted.

Accordingly, when the linear movement bar 226 is moved forward, the left and right hand portion 120 is further reduced in length protruding out of the housing 20, the linear movement hook portion of the hook device On the contrary, the length protruding to the outside of the housing 20 is further extended. When the linear movement bar 226 moves backward, the left and right hand parts 120 are connected to the housing 20. The protruding outward length is more extended, but the linear moving hook portion 422 of the hook device is conversely protruded to the outside of the housing 20 so that the length is further reduced.

12 and 13 illustrate a fifth embodiment of the robot hand according to the present invention, and FIG. 12 illustrates a fifth embodiment of the robot hand having a connection part that is elastically deformed according to an object shape according to the present invention. 1 is a perspective view, and FIG. 13 is a perspective view showing another operating state of FIG. 12.

Compared to the fourth embodiment of the robot hand according to the present invention, the fifth embodiment of the robot hand according to the present invention includes a chain and a belt in which the variable connection device 100 can flexibly deform the length and the bend shape. Is made of a linear member, such as a wire, one end is coupled to the front end of the hand portion 120 so that the connection state with the moving object 10 is variable according to the protruding length or position of the hand portion 120 It has a structure further provided with a curved deformation portion (110).

The curved deformation part 110 has a front end coupled to a portion corresponding to the connection portion 100a on one side of the left and right hand portions 120 and a rear end fixedly coupled to the housing 120. When the right hand part 120 protrudes to the outside of the housing 120 such that the connection part 100a is greater than or equal to a predetermined length, the bent deformation part 110 is formed between the left and right hand parts 120. It has a shape extended to face the hand portion 120.

The left and right hand parts 120 are deformed in length or shape of the connection part 100a while the distance between each other and the protruding length to the outside of the housing 20 are adjusted while maintaining a constant shape. When the object 10 has a curved surface shape, only the part corresponding to the outermost side of the protruding portion is connected to the hand part 120, and the curved deformation part (between the left and right hand parts 120) When the 110 is further provided, the curved state of the curved deformation portion 110 may be deformed according to the surface shape of the moving object 10, and the moving object 10 may be stably gripped with an extended contact area. .

14 to 20 illustrate a sixth embodiment of the robot hand according to the present invention, and FIG. 14 illustrates a sixth embodiment of the robot hand having a connection part that is elastically deformed according to an object shape according to the present invention. 1 is a perspective view, and FIG. 15 is a state diagram showing a state in which a moving object having an arbitrary shape is gripped using the embodiment shown in FIG. 14, and FIGS. 16 and 17 are plan and rear views of FIG. 14, respectively. 18 is a main perspective view showing another operating state of FIG. 14, and FIGS. 19 and 20 are plan and rear views of FIG. 18, respectively.

In the sixth embodiment of the robot hand according to the present invention, in comparison with the first to fifth embodiments of the robot hand according to the present invention, the connection portion 100a of the variable connection device is configured to inject and discharge air. It has a configuration consisting of a pair of left and right airbag 130 made of a tube member that can adjust the volume by stretching.

As the connecting portion 100a of the variable connection device is formed of the pair of left and right airbags 130, the moving object 10 is positioned between the pair of left and right airbags 130. As shown in FIGS. 18 to 20, when the volume of the airbag unit 130 is expanded, the airbag of the soft material may be formed even when the moving object 10 has a small or complicated surface shape as shown in FIG. 14. By entering the concave portion of the moving object 10 to the concave portion 130, the moving object 10 may be gripped more stably and firmly at a position spaced apart from the housing 20.

Next, a robot hand control method according to the present invention according to the present invention will be described.

The robot hand control method according to the present invention preferably controls the robot hand in gripping and moving the moving object 10 using a robot hand having a connection part that is elastically deformed according to the object shape according to the present invention. It relates to a method, largely has a configuration including a moving method selection step, closed loop switching step, the set pressure gripping step.

As in the first, second, and sixth embodiments of the robot hand according to the present invention, when the hooking device 400 is not provided, the method of moving by grasping the moving object 10 is applied in the moving method selection step. Whether it is appropriate to determine whether or not according to the shape information of the moving object 10 obtained through the sensor or received through an external input terminal.

When it is determined that the moving object 10 is gripped and moved in the moving method selection step, the closed loop switching step provides a contact surface that is pressurized to the moving object 10 in the open loop mode. The connection portion 100a of the variable connection device is switched to the closed loop mode for directing the pressure contact with the surface of the moving object 10.

When the variable connecting device 100 is pressurized to the moving object 10 at a set pressure in the closed loop mode, the variable connecting device 100 is used by the shape holding device in the setting pressure gripping step. ) Is kept constant, and after the variable connection device 100 is pressed and connected to the moving object 10 at a set pressure, the moving object 10 is gripped and moved to a target position. Through the open loop return step of switching the robot hand to the open loop mode, the connection part 100a of the variable connection device may be separated from the moving object 10 and returned to the initial state.

As in the third, fourth, and fifth embodiments of the robot hand according to the present invention, when the hooking device 400 is further provided, the movement method selection step, the closed loop switching step, the set pressure gripping step, It is preferable to have a configuration further comprising a loop switching step, the hook providing step.

In the moving method selection step, in moving the moving object 10, whether or not it is suitable to move the moving object 10 by grasping or using a hook is obtained by a sensor. It is determined according to the shape information of the moving object 10 or received through an external input terminal.

If it is determined that the moving object 10 is gripped and moved in the moving method selection step, the connection part of the variable connection device for providing a contact surface that can be pressed against the moving object 10 in the closed loop switching step. The operation mode of the robot hand is switched to the closed loop mode for directing the operation state in which 100a is in pressure contact with the surface of the moving object 10.

If it is determined that the movement using the hook in the movement method selection step is appropriate, the open loop switching step, the connection portion (100a) of the variable connection device for providing a contact surface that can be pressed contact with the moving object (10) The operation mode of the robot hand is switched to the open loop mode that directs the operation state to deviate from the moving object 10.

When the variable connecting device 100 is pressurized to the moving object 10 at a set pressure in the closed loop mode, the shape of the variable connecting device 100 is constantly maintained through the set pressure gripping step. In addition, in the state of switching to the open loop mode, the moving object 10 is hooked and restrained by using a hook portion or a recess provided in the moving object 10 through the hook providing step of providing a hook.

In the same structure as the fourth and fifth embodiments of the robot hand according to the present invention, the hook providing step is performed at the same time as the adjustment to detach the connecting portion 100a of the variable connection device from the moving object 10. In the same structure as the first, second, and third embodiments of the robot hand according to the present invention, the connection or connection state of the variable connection device 100 and the hook is adjusted according to the inputted result determined in the moving method selection step. After a further step, the simultaneous adjustment is made as in the fourth and fifth embodiments, or only the variable connection device 100 or the hook is moved and adjusted independently.

After the moving object 10 is held or walked to the target position, the mode which is switched to the open loop mode when the current mode is the open loop mode and to the open loop mode when the current mode is the closed loop mode. In addition to the return step, the connection portion 100a or the hook device 400 of the variable connection device may be separated from the moving object 10.

FIG. 21 illustrates a first embodiment of a robot hand control method suitable for application when the hook device 400 is additionally provided, as in the third, fourth, and fifth embodiments of the robot hand according to the present invention. In the flowchart shown in the figure, the robot hand is moved to a position adjacent to the moving object 10, and after determining whether the use of the hook is suitable through the moving method selection step, if it is determined that the use of the hook is suitable, the open loop. Through the converting step, the variable connection device 100 is converted into an open loop mode that does not use.

In the converted state in the open loop mode, the hooking device 400 is drawn through the hooking providing step to move the moving object 10 to the target position in a state in which the moving object 10 is bound and restrained. After the movement to the position is completed, the operation of holding and moving the moving object 10 can be stably implemented by releasing the Gary device 400 through the mode returning step.

If it is determined that the use of the hook is not suitable through the moving method selection step, the variable connection device 100 is used through the closed loop conversion step to perform a basic gripping operation using the variable connection device 100. Convert to closed loop mode.

In the state of being converted to the closed loop mode, the variable connection device 100 is checked by using the variable connection device 100 to determine whether the variable connection device 100 is located in an area in which the moving object 10 can be gripped. ) Does not belong to the area that can hold the moving object 10 to drive the connection length adjusting device 200 to secure an area where the variable connection device 100 can easily hold the moving object 10. Stretch or deform in a shape suitable for the, and allows the variable connection device 100 to be located in the area that can hold the moving object (10).

In the state where the variable connecting device 100 is located in an area that can hold the moving object 10, the variable length device 200 is driven to the surface of the moving object 10 with the variable connecting device 100. When the variable connection device 100 is in a state in which the variable connection device 100 is pressurized with a set pressure contacting the moving object 10 with the maximum possible contact length or contact area, the shape and driving of the variable connection device 100 are maintained. The moving object 10 is moved to a target position while maintaining an operation form such as a transmission force.

According to the robot hand and the robot hand control method having a connection part that is elastically deformed according to the object shape according to the present invention, the variable connection device 100, the variable connection device for providing a contact surface that can be pressed contact with the moving object (10) The connection length adjusting device 200 that stretches and deforms the shape of the shape 100, and the shape maintaining device that maintains the state in which the variable connection device 100 is pressurized and connected to the moving object 10 at a set pressure. By the simple structure made, it is possible to reliably and stably implement an operation of holding and moving an object having an arbitrary shape among various operations that the conventional robot hand cannot perform.

As the variable connection device 100 has a structure capable of stretching and deforming the connection part 100a that is in contact with the moving object 10, the minimum control of deforming the length or shape of the variable connection device 100. It is possible to hold and move the object alone, thereby ensuring the reliability of operation and the robustness to stably transmit and maintain the driving force.

In addition, it is possible to implement a miniaturization and a light weight with a simpler structure by providing only a minimum driver and a sensor necessary for holding and moving the moving object 10. A simple structure by analyzing only the minimum information input from a small number of sensors. Since the variable connection device 100 may be stretched and stretched consistently, the control system for interoperating sensors and motors may also be simplified, and a more stable control system may be realized.

The present invention has been described with reference to preferred embodiments of the present invention, but the present invention is not limited to these embodiments, and the claims and detailed description of the present invention together with the embodiments in which the above embodiments are simply combined with existing known technologies. In the present invention, it can be seen that the technology that can be modified and used by those skilled in the art are naturally included in the technical scope of the present invention.

Claims

A variable connection device (100) providing a contact surface that is pressurized and contactable to the moving object (10), wherein the connecting portion (100a) contacting the moving object (10) is elastically deformable;

The connecting portion 100a of the variable connecting device is continuously closed on the surface of the moving object 10 or divided into a plurality of locations in a closed loop state in which the pressure contact is made, or in an open loop state deviating from the moving object 10. A connection length adjusting device (200) which expands and deforms the shape of the connection part (100a) of the variable connection device so as to be switched, in conjunction with a driving part characterized in that it is a motor (201) or a pump; And

A shape maintaining device for keeping the shape of the variable connection device 100 constant in a closed loop in which the variable connection device 100 is pressurized and connected to the moving object at a set pressure;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
According to claim 1, wherein the variable connection device 100,

A bending deformation part 110 formed of a linear member such as a chain, a belt, and a wire that can flexibly deform a length and a bending shape;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
The method of claim 2, wherein the variable connection device 100,

An airbag unit 130 formed of a tube member that is made of a flexible tube member by volume of the air injecting and discharging, and extending along the lengthwise direction of the bending deformation part 110 and connected to the bending deformation part 110;

Robot hand having a connection portion that is elastically deformed according to the object shape, characterized in that it further comprises.
According to claim 1, wherein the variable connection device 100,

A hand part 120 which maintains a constant shape and whose length of the connection part 100a is changed by moving in a direction adjacent or spaced from the moving object 10;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
The method of claim 4, wherein the variable connection device 100,

It is made of a linear member such as a chain, belt, wire that can be flexibly deformed length and bent shape, the hand so that the connection state with the moving object 10 is variable according to the protruding length or position of the hand portion 120 A curved deformation part 110 having one end coupled to the front end of the part 120;

Robot hand having a connection portion that is elastically deformed according to the object shape, characterized in that it further comprises.
According to claim 1, wherein the variable connection device 100,

An air bag unit 130 formed of a tube member that is elastically adjustable by injecting and discharging air;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
According to claim 2 or 3, The connection length adjusting device 200,

A first gear 211 that is rotated while being connected to one side of the bent deformable part 110 and deforms a length or a shape while moving one side of the bent deformable part 110;

Rotation in the opposite direction to the first gear 211 in a state connected to the other side of the curved deformation portion 110 and the length while moving the curved deformation portion 110 with the first gear 211 or A second gear 212 deforming the shape; And

A power transmission assembly 213 for simultaneously driving the first gear 211 and the second gear 212 in opposite directions by one-way rotation of the motor 201;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
The method of claim 7, wherein the power transmission assembly 213,

A first main pulley 213a installed coaxially with the first gear 211 and connected to the motor 201 by a belt member so as to be rotatable in the same direction as the rotation direction of the motor 201;

A second main pulley 213b installed coaxially with the second gear 212;

A first auxiliary pulley 213c connected to the second main pulley 213b by a belt member rotatably in the same direction as the second main pulley 213b;

A second auxiliary pulley (213d) connected to the motor (201) by a belt member so as to be rotatable in the same direction as the rotation direction of the motor (201); And

The first auxiliary pulley 213c and the second auxiliary pulley at positions opposite to the second auxiliary pulley 213d to transfer the rotation of the second auxiliary pulley 213d in the reverse direction to the first auxiliary pulley 213c. A pair of redirection pulleys 213e connected to the 213d by a belt member;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
The method of claim 4 or 5, wherein the connection length adjusting device 200,

A linear motion transfer unit 220 interlocked with the motor 201 to linearly move the hand unit 120 in a direction adjacent or spaced apart from the moving object 10;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
10. The method of claim 9, wherein the linear motion transfer unit 220,

A cam member 223 interlocked with the motor 201;

A linear movement bar 226 linked to the cam member 223 so that the position of the front end portion is moved forward and backward by the rotation of the cam member 223; And

The rear end is connected to the front end of the linear movement bar 226, and the intermediate portions intersecting with each other are rotatably coupled on one axis, and the position and angle of the front end are moved together by the movement of the linear movement bar 226. A variable pair of left and right pairs of hand connection bars 227 to which the hand part 120 is coupled, respectively;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
The method of claim 10, wherein the linear motion transfer unit 220,

A first power transmission gear 221 installed coaxially with the motor 201;

The cam member 223 is connected to the first power transmission gear 221 and coaxially with the cam member 223, and is connected to the first power transmission gear 221 at a speed corresponding to the number of teeth with the first power transmission gear 221. A second power transmission gear 222 which rotates by decelerating or accelerating;

A support 224 extending in a vertical direction at a point where a rear end of the linear moving bar 226 having an intermediate portion linked to the cam member 223 is located; And

The rear end of the linear movement bar 226 is hinged rotatably so that the rear end of the linear movement bar 226 is movable along the support 224, and the guide portion of the support 224 is perpendicular to the guide portion. Vertical guide 225 is installed to be movable to;

Robot hand having a connection portion that is elastically deformed according to the object shape, characterized in that it further comprises.
According to claim 1, wherein the shape retaining device,

A shape maintaining control unit controlling an operation of the connection length adjusting device 200 so that the variable connection device 100 maintains a state in which the variable connection device 100 is finally deformed when the variable connection device 100 is loaded with a threshold value or more;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
The method according to any one of claims 1 to 6,

In the open loop state in which the connecting portion 100a of the variable connecting device is separated from the moving object 10, a hook for hanging the moving object 10 using a ring portion or a recess provided in the moving object 10. Hook device for providing 400;

Robot hand having a connection portion that is elastically deformed according to the object shape, characterized in that it further comprises.
The method of claim 13, wherein the hook device 400,

A driving force transmission part 411 which receives the pressing force from the variable connection device 100 and adjusts rotation by the shape deformation or movement of the variable connection device 100; And

A hook portion 413 which is moved and adjusted in a direction spaced apart from the rotational shaft 411a by the rotation of the driving force transmission portion 411, and the protrusion length toward the moving object 10 is extended and adjusted;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
The method of claim 14, wherein the hook device 400,

Provided with a hook engaging portion (412a) that can be installed to connect the hook portion 413 to a point having a constant relative angle with the driving force transmission portion 411 and is installed on the rotation shaft (411a) of the driving force transmission portion 411 Hook connection portion 412; And

An upper end is connected to the hook connection part 412a of the hook connection part and includes a hook support part for supporting the hook part 413 at the lower end or by pressing the upper end, and according to the position of the hook coupling part 412a, the telescopic part is stretched and adjusted. Stretch support 414 to maintain the shape of the hook portion 413 without sagging;

Robot hand having a connection portion that is elastically deformed according to the object shape, characterized in that it further comprises.
The method of claim 13, wherein the hook device 400,

A linear displacement transfer unit 421 which is moved and adjusted in a direction opposite to the moving direction of the variable connection device 100; And

A linear moving hook portion 422 coupled to the front end of the linear displacement transfer unit 421 and adjusting the protrusion length toward the moving object 10 by the movement of the linear displacement transfer unit 421;

Robot hand having a connecting portion that is elastically deformed according to the object shape, characterized in that comprising a.
A moving method selection step of determining according to the shape information of the moving object 10 obtained through the sensor or inputting through an external input terminal whether it is appropriate to apply a method of holding and moving the moving object 10;

If it is determined that the moving object 10 is gripped and moved in the moving method selection step, the moving part connecting part 100a of the variable connection device providing a contact surface that can be pressed into the moving object 10 is moved. A closed loop switching step of switching to a closed loop mode for pressure contacting the surface of the object 10; And

A setting pressure gripping step of maintaining a constant shape of the variable connecting device 100 when the variable connecting device 100 is pressed and connected to the moving object 10 at a set pressure in the closed loop mode;

Robot hand control method comprising a.
The method of claim 17,

An open loop returning step of holding the moving object 10 to move to a target position and then switching to the open loop mode in which the connecting portion 100a of the variable connection device is separated from the moving object 10;

Robot hand control method characterized in that it further comprises.
In moving the moving object 10, it is appropriate to grasp and move the moving object 10, or whether it is suitable to move by using a hook of the moving object 10 obtained through the sensor A moving method selection step of determining according to the shape information or receiving the input through an external input terminal;

If it is determined that the moving object 10 is gripped and moved in the moving method selection step, the moving part connecting part 100a of the variable connection device providing a contact surface that can be pressed into the moving object 10 is moved. A closed loop switching step of switching to a closed loop mode for pressure contacting the surface of the object 10;

A setting pressure gripping step of maintaining a constant shape of the variable connecting device 100 when the variable connecting device 100 is pressed and connected to the moving object 10 at a set pressure in the closed loop mode;

In the moving method selection step, if it is determined that it is suitable to move by using a hook, the connection part 100a of the variable connection device which provides a contact surface which is pressurized to the moving object 10 is moved from the moving object 10. An open loop switching step of switching to an open loop mode for adjusting the departure; And

A hook providing step of providing a hook in the changed state of the open loop mode to hang and restrain the movable object 10 by using a ring portion or a recess provided in the movable object 10;

Robot hand control method comprising a.
20. The method of claim 19, wherein the hook providing step,

Robot control method characterized in that at the same time as the adjustment to detach the connection portion (100a) of the variable connection device from the moving object (10).
The method of claim 19,

A mode returning step of reversing a mode so as to separate the connecting portion 100a or the hook of the variable connection device from the moving object 10 after holding or moving the moving object 10 to a target position;

Robot hand control method characterized in that it further comprises.